Sprinkle gelatin over milk in a saucepan. Let sit for 1 min. Stir over low heat until gelatin is dissolved (4 min.) Add chocolate, and stir until chocolate is all melted. Stir in vanilla and remove from heat. In five minutes, add Bailey's and stir. Chill chocolate-Bailey's mixture, and when mixture thickens enough to form mounds when dropped from a spoon (it looks like chocolate pudding, about 50 min.), fold in Cool Whip, and turn into crust. Chill 4 hours. Garnish as desired or add more Cool Whip before serving if you like.